基于四腿機器人足球比賽的多自主體信息融合應(yīng)用研究

1、北京工業(yè)大學(xué)碩士學(xué)位論文基于四腿機器人足球比賽的多自主體信息融合應(yīng)用研究姓名：張林濤申請學(xué)位級別：碩士專業(yè)：機械設(shè)計及理論指導(dǎo)教師：許東來20080501北京工業(yè)大學(xué)下學(xué)碩士學(xué)位論文ABSTRACTThispaperisbasedonRoboCupleggedrobotgroupwhichusesSonyamorobotasexperimentalobjectWiththeplatformofGT2004publishedbyGerma

2、nTeamin2005，combiningtheimageprocessinginformationtakenbytherobot’SOwncamel“aandtherobotposeinformationproducedbyrecentselflocalizationapproach，wkhthebehaviormessageofbehaviorcontrolmodelformedtheteammessageThepaperimple

3、mentedreal—timeinformationfusionAlgorithmdealwiththeteammessageundertherealdynamicenvironmenttometthenewneedsofRoboCupOntheconditionofwirelessnetworkcommunicationandaccurateposeestimation，thedynamicroleassignmentandcoord

4、inationamongmultiagentsbecameposs沁leThepaperInstintroducedthebackgroundoftheprojectandtheactualityaboutinformationfusionresearchonrobotsoccerdomain眥thattheschemeandcontentoftheprojectwereprovidedThepaperemphasizedonthede

5、scriptionoftheapplicationofinformationfusiononthemodulesintheFourleggedRobotSOCCersystemsBasedontheprocessingresultsandMonte—Carloapproach，itgaveanexplanationontheformofteammessageDealtwkhtheballteammessagewiththeweighte

6、daverageandtheparticlefilterAlgorithm，andgotgoodresultsFinallyitdescriedtheimplementationofbehaviorcontrolfrombasicoptiontotheroleassignmentandcoordinationbehaviors，establishedcorrespondingstrategyandoutgoingmotionConsid

7、eringthepracticalapplication，theprojecttookfulladvantageoftherecentresearchandselectedmorefeasmleinformationfusionapproachesMoreoverithasachievedsomeprovenSuccessinteamcommunicationandcoordinationbehaviorscontrolallofwhi